/*
 * MIT License
 *
 * Copyright (c) 2024 Carnegie Mellon University
 *
 * This file is part of Tartan.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
*/

#pragma once

#include "frame.h"
#include "log.h"
#include "map.h"
#include <vector>

namespace reconstruct {
void buildLinearSystem(double **srcPoints, double **tarPoints,
                       double **tarNormals, int num, double **tWorldToCamera,
                       double **A, double *b);
double *solveLinearSystem(double **A, double *b, int num);
double **poseToTransformation(double *delta);
std::vector<int> findProjCorr(Map *m, Frame *f, double **intrinsic,
                              double **tWorldToCamera, int *newNum);
double **icp(Map *m, Frame *f, double **intrinsic, double **tWorldToCamera);
} // namespace reconstruct
